Multi joint orthodynamic rehabilitator, assistive orthotic device and methods for actuation controlling

• US 20080077057A1
• Filed: 04/11/2007
• Published: 03/27/2008
• Est. Priority Date: 05/29/2003
• Status: Active Grant

• Current Assignee: Muscle Tech Ltd.
• Original Assignee: Muscle Tech Ltd.
• Inventors: Peles, Zalman
• Granted Patent: US 8,083,694 B2
• Time in Patent Office: Days
• US Class Current: 601/5
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61H 1/0277 Elbow
• CPC Class Codes: A61H 2201/0176 By stopping operation
• CPC Class Codes: A61H 2201/018 By limiting the applied torque or force
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5071 Pressure sensors

Abstract

A method and system for treating self-adaptive motion of a jointed body part of a patient, the jointed body part has at least three rotatable body sections interconnected by at least two joints, by collecting data regarding limb movement displaying representations of the data in real time, and modifying current device function based upon such data so as to meet predefined therapeutic treatment parameters with regard to device-actuated movement needs of the limb regarding device-actuated movement, and/or assist limb rotation.

Claims

1. A method for self-adaptive motion treatment of a jointed body part of a patient, said jointed body part is characterized by at least three rotatable body sections interconnected by at least two joints, the method comprising:

a) obtaining an exoskeleton multi-joint wear on orthotic system, characterized by more that 2 joints, at least one is a shoulder joint and 3 actuators;

b) attaching said external actuating device physically to said jointed body part, said device including at least one actuator for applying force to generate or oppose movement of said jointed body part;

at least one sensor arrangement for sensing a force generated by said jointed body part relative to said external actuating device; and

, at least one sensor arrangement for sensing the position of said jointed body part;

such that first axis of device rotation, which is an axis about which said body sections rotate in relation to each other, is placed upon said first axis of body-part-rotation; and

at least a second axis of device rotation is placed upon at least a second axis of body-part-rotation;

c) activating said external actuating device during repeated performance of set of a motions including rotating the body parts about said axes of body part rotation so as to interact with said jointed body part according to a certain set of treatment parameters;

d) during repetitions of said set of motions, collecting and storing data relating to the force generated by said jointed body part relative to said external actuating device and to the position of the jointed body part;

e) analyzing said data by use of a data processor according to a predefined set of analysis rules; and

,

f) during said activating, modifying, responsive to said data analysis, at least one parameter of said set of treatment parameters during an uninterrupted treatment session, thereby modifying the interaction of said external actuating device with said jointed body part during at least one repetition of said set of motions based at least in part on data collected during previous repetitions of said set of motions.

2. The method of claim 1, wherein said rotating of said sections about said axis of device-rotation is implemented as rotation about said first and second axes of device-rotation, and said first and second axes of device-rotation are perpendicular to each other.

3. The method of claim 1, wherein said rotating about said first and second axes of device-rotation is implemented as substantially simultaneous rotation about said first and second axes of device-rotation.

4. The method of claim 1, wherein said activating further includes using a control unit in electronic communication with said data processor, said control unit further being in control communication with said external actuating device.

5. The method of claim 1, further comprising activating hydraulic actuators associated with said external actuating device to achieve said rotation, said control communication therefore being fluid communication.

6. The method of claim 1, wherein said certain set of parameters relate to said activating being in a rehabilitative mode.

7. The method of claim 1, wherein said certain set of parameters related to said activating device being in an assistive mode.

8. The method of claim 1, wherein said analysis is included in a decision making process of a treatment team.

9. The method for self-adaptive treatment according to claim 1, wherein said external actuating device includes at least one actuator for applying force to oppose movement of the jointed body part.

10. The system for self-adaptive treatment according to claim 1, wherein said external actuating device includes at least one actuator for applying force to oppose movement of the jointed body part.

11. A system for treating self-adaptive motion of a jointed body part of a patient, said jointed body part is characterized by at least three rotatable body sections interconnected by at least two joints, the system comprising:

a) an exoskeleton multi-joint wear on orthotic system, characterized by more that 2 joints, at least one is a shoulder joint and 3 actuators;

b) means for attaching said external actuating device physically to said jointed body part, said device including at least one actuator for applying force to generate or oppose movement of said jointed body part;

at least one sensor arrangement for sensing a force generated by said jointed body part relative to said external actuating device; and

, at least one sensor arrangement for sensing the position of said jointed body part;

such that first axis of device rotation, which is an axis about which said body sections rotate in relation to each other, is placed upon said first axis of body-part-rotation; and

at least a second axis of device rotation is placed upon at least a second axis of body-part-rotation;

c) means for activating said external actuating device during repeated performance of set of a motions including rotating the body parts about said axes of body part rotation so as to interact with said jointed body part according to a certain set of treatment parameters;

d) means for repetitively collecting and storing data relating to the force generated by said jointed body part relative to said external actuating device and to the position of the jointed body part;

e) means for analyzing said data by use of a data processor according to a predefined set of analysis rules; and

,

f) means for modifying, responsive to said data analysis, at least one parameter of said set of treatment parameters during activating an uninterrupted treatment session, thereby modifying the interaction of said external actuating device with said jointed body part during at least one repetition of said set of motions based at least in part on data collected during previous repetitions of said set of motions.

12. The system of claim 11, wherein said first and second axes of device-rotation are perpendicular to each other.

13. The system of claim 11, wherein said rotating about said two axes of device-rotation is implemented as substantially simultaneous rotation about said two axes of device-rotation.

14. The system of claim 11, wherein said data collection elements include an encoder.

15. The system of claim 11, further comprising a control unit in electronic communication with said data processor, and in control communication with said external actuating device.

16. The system of claim 11, further comprising hydraulic actuators associated with said external actuating device, said hydraulic actuators configured so as to rotate said sections about said axis device-rotation, said control communication therefore being fluid communication.